mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")
This commit is contained in:
matlabbe
@@ -95,15 +95,24 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>673</width>
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<height>2979</height>
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<width>680</width>
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<height>2986</height>
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</rect>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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<item>
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@@ -117,7 +126,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>10</number>
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<number>18</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
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@@ -1869,6 +1878,29 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="6" column="2">
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<widget class="QLabel" name="label_301">
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<property name="text">
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<string>Show landmarks.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QCheckBox" name="checkBox_showLandmarks">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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@@ -5141,7 +5173,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Directory of images (optional settings)</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_93">
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -11088,6 +11129,323 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page_78">
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<layout class="QVBoxLayout" name="verticalLayout_137">
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<item>
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<widget class="QGroupBox" name="groupBox_markerDetection2">
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<property name="title">
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<string>Marker Detection</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_136">
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<item>
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<layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1">
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<item row="3" column="1">
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<widget class="QLabel" name="label_space2_9">
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<property name="text">
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<string>Angular variance to set on marker detections. Set to >=9999 to use only position (xyz) constraint in graph optimization.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QCheckBox" name="RGBDMarkerDetection">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="ArucoVarianceLinear">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000001000000000</double>
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</property>
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<property name="singleStep">
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<double>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.001000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_markerDetection">
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<property name="text">
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<string>Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_space2_6">
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<property name="text">
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<string>Linear variance to set on marker detections.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_space2_7">
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<property name="text">
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<string>Marker length. The length (m) of the markers' side.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="ArucoVarianceAngular">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000001000000000</double>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.001000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="ArucoMarkerLength">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="minimum">
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<double>0.000100000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_31">
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<property name="title">
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<string>ArUco</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_106" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QComboBox" name="ArucoDictionary">
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<item>
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<property name="text">
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<string>4X4_50</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>4X4_100</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>4X4_250</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>4X4_1000</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>5X5_50</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>5X5_100</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>5X5_250</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>5X5_1000</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>6X6_50</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>6X6_100</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>6X6_250</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>6X6_1000</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>7X7_50</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>7X7_100</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>7X7_250</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>7X7_1000</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>ARUCO_ORIGINAL</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>APRILTAG_16h5</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>APRILTAG_25h9</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>APRILTAG_36h10</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>APRILTAG_36h11</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_space2_10">
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<property name="text">
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<string>Dictionary to use.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QComboBox" name="ArucoCornerRefinementMethod">
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<item>
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<property name="text">
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<string>None</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Subpixel</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Contour</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>AprilTag 2</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_space2_11">
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<property name="text">
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<string>Corner refinement method.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer_76">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>2627</height>
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</size>
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</property>
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</spacer>
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page_12">
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<layout class="QVBoxLayout" name="verticalLayout_32" stretch="0,1">
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<item>
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@@ -15461,7 +15819,16 @@ Lower the ratio -> higher the precision.</string>
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -15541,7 +15908,16 @@ Lower the ratio -> higher the precision.</string>
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<property name="leftMargin">
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||||
<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -15653,7 +16029,16 @@ Lower the ratio -> higher the precision.</string>
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<property name="leftMargin">
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||||
<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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||||
<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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